CN109980675B - Double-fed magnetic suspension vertical axis wind power generation system for flexible direct current transmission and control method thereof - Google Patents

Double-fed magnetic suspension vertical axis wind power generation system for flexible direct current transmission and control method thereof Download PDF

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CN109980675B
CN109980675B CN201910336224.2A CN201910336224A CN109980675B CN 109980675 B CN109980675 B CN 109980675B CN 201910336224 A CN201910336224 A CN 201910336224A CN 109980675 B CN109980675 B CN 109980675B
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damping
converter
winding
torque
power
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CN109980675A (en
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褚晓广
蔡彬
孔英
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Qufu Normal University
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03DWIND MOTORS
    • F03D7/00Controlling wind motors 
    • F03D7/06Controlling wind motors  the wind motors having rotation axis substantially perpendicular to the air flow entering the rotor
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03DWIND MOTORS
    • F03D9/00Adaptations of wind motors for special use; Combinations of wind motors with apparatus driven thereby; Wind motors specially adapted for installation in particular locations
    • F03D9/20Wind motors characterised by the driven apparatus
    • F03D9/25Wind motors characterised by the driven apparatus the apparatus being an electrical generator
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02JCIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00Circuit arrangements for AC mains or AC distribution networks
    • H02J3/36Arrangements for transfer of electric power between AC networks via a high-tension DC link
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P9/00Arrangements for controlling electric generators for the purpose of obtaining a desired output
    • H02P9/007Control circuits for doubly fed generators
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P9/00Arrangements for controlling electric generators for the purpose of obtaining a desired output
    • H02P9/008Arrangements for controlling electric generators for the purpose of obtaining a desired output wherein the generator is controlled by the requirements of the prime mover
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2101/00Special adaptation of control arrangements for generators
    • H02P2101/15Special adaptation of control arrangements for generators for wind-driven turbines
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2103/00Controlling arrangements characterised by the type of generator
    • H02P2103/20Controlling arrangements characterised by the type of generator of the synchronous type
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00Energy generation through renewable energy sources
    • Y02E10/70Wind energy
    • Y02E10/72Wind turbines with rotation axis in wind direction
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00Energy generation through renewable energy sources
    • Y02E10/70Wind energy
    • Y02E10/74Wind turbines with rotation axis perpendicular to the wind direction

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Eletrric Generators (AREA)
  • Wind Motors (AREA)

Abstract

本发明公开了一种柔性直流输电用双馈型磁悬浮垂直轴风力发电系统及其控制方法,采用永磁同步发电机和1/3额定功率的盘式电机,共同形成风电系统双馈电结构,盘式电机为功率调控单元和悬浮机构,灵活调控风机旋转体悬浮和摩擦阻尼,永磁同步发电机主功率输出非控机制,将机侧变流器由全控桥调整为非可控整流器,降低垂直轴发电系统成本;采用四点气隙跟踪控制以及综合考虑同步性能的交叉耦合控制器,协同完成风机多自由度悬浮,采用转子磁链定向将盘式电机定子电流解耦,采用双闭环串级控制,实施风机优化转速和额定转速的渐进跟踪;采用四点阻尼调控摩擦转矩,结合盘式电机的最大转矩补偿控制,严格控制永磁发电机额定功率输出。

The invention discloses a doubly-fed magnetic levitation vertical axis wind power generation system for flexible direct current transmission and its control method. It adopts a permanent magnet synchronous generator and a disk motor with 1/3 rated power to jointly form a double-feed structure of the wind power system. The disk motor is a power control unit and suspension mechanism, which can flexibly control the suspension and friction damping of the fan rotating body. The main power output of the permanent magnet synchronous generator is a non-controlled mechanism, and the machine-side converter is adjusted from a fully controlled bridge to a non-controllable rectifier. Reduce the cost of the vertical axis power generation system; adopt four-point air gap tracking control and a cross-coupling controller that comprehensively considers synchronization performance to collaboratively complete the multi-degree-of-freedom suspension of the wind turbine; use rotor flux orientation to decouple the disc motor stator current, and adopt double closed loops Cascade control implements progressive tracking of the fan's optimized speed and rated speed; four-point damping is used to regulate friction torque, combined with the maximum torque compensation control of the disc motor, to strictly control the rated power output of the permanent magnet generator.

Description

柔性直流输电用双馈型磁悬浮垂直轴风力发电系统及其控制 方法Doubly-fed magnetic levitation vertical axis wind power generation system for flexible DC transmission and its control method

技术领域Technical field

本发明涉及一种发电系统及其控制方法,尤其是一种柔性直流输电用双馈型磁悬浮垂直轴风力发电系统及其控制方法,属于风电领域。The invention relates to a power generation system and a control method thereof, in particular to a doubly-fed magnetic levitation vertical axis wind power generation system for flexible DC transmission and a control method thereof, which belongs to the field of wind power.

背景技术Background technique

随着能源危机和环境污染日趋严重,作为严格无污染的风力发电日益受到世界各国关注,我国已明确将风力发电从补充能源提升至替代能源。但我国大部分区域平均风速低于5-6m/s,加大大功率低风速风力发电机型及其控制策略的研究,是推动低风速风电发展,实现风电真正实用化的有效途径。垂直轴风力发电机无需水平轴风力发电机必需的偏航装置,具有启动风速低、安装简便等优势,特别是磁悬浮轴承技术的引入,使得风力机的起动阻力矩大幅降低,非常适合低风区域的弱风型风电场。马来西亚泰莱大学、诺丁汉大学和马尼帕尔国际大学利用永磁体阵列和定子铁心构成被动悬浮,将启动风速降低至2-3m/s;美国环球风能科技、江苏大学、香港理工大学等都先后采用主被动悬浮轴承,将垂直轴风力发电机起动风速大幅降低,但功率等级一般在15kW以下。内蒙古索力德风电公司和广州雅图新能源有限公司,采用磁悬浮轴承以及多层桨叶采风机构,开发了MW级的垂直轴风力机,起动风速减小至3-3.5m/s,但存在以下问题:采用机械耦合装置完成发电机和风机旋转体的耦合,存在风能捕获控制滞后、机械冲击以及输出功率波动等问题;采用全功率机侧变流器调节发电机转速和传输功率,开关损耗大、故障率高,控制自由度少;多层风机采风系统的高度差所致倾覆力矩,极易导致风机旋转体轴径向悬浮位移变化,摩擦损耗大、发电成本高,严重影响大功率垂直轴风力发电的实用化以及推广应用。As the energy crisis and environmental pollution become increasingly serious, wind power generation, which is strictly non-polluting, has attracted increasing attention from countries around the world. my country has clearly upgraded wind power generation from supplementary energy to alternative energy. However, the average wind speed in most areas of my country is lower than 5-6m/s. Increasing the research on high-power low-wind speed wind turbine models and their control strategies is an effective way to promote the development of low-wind speed wind power and realize the true practical application of wind power. Vertical-axis wind turbines do not require the yaw device required for horizontal-axis wind turbines. They have the advantages of low starting wind speed and easy installation. Especially the introduction of magnetic bearing technology greatly reduces the starting resistance torque of wind turbines, making them very suitable for low-wind areas. of low wind wind farms. Taylor's University in Malaysia, the University of Nottingham and Manipal International University use permanent magnet arrays and stator cores to form passive suspension, reducing the starting wind speed to 2-3m/s; American Global Wind Energy Technology, Jiangsu University, Hong Kong Polytechnic University, etc. have successively The use of active and passive suspension bearings greatly reduces the starting wind speed of vertical axis wind turbines, but the power level is generally below 15kW. Inner Mongolia Solide Wind Power Company and Guangzhou Yatu New Energy Co., Ltd. have developed a MW-class vertical axis wind turbine using magnetic levitation bearings and multi-layer blade wind collection mechanisms. The starting wind speed is reduced to 3-3.5m/s, but there are The following problems: using a mechanical coupling device to complete the coupling between the generator and the wind turbine rotor, there are problems such as wind energy capture control lag, mechanical impact, and output power fluctuations; using a full-power machine-side converter to adjust the generator speed and transmission power, switching losses Large, high failure rate, little control freedom; the overturning moment caused by the height difference of the multi-layer fan wind collection system can easily lead to changes in the radial suspension displacement of the fan rotating body axis, resulting in large friction losses and high power generation costs, seriously affecting the high-power vertical Practical implementation and popularization of axial wind power generation.

发明内容Contents of the invention

本发明的主要目的在于:针对现有技术中存在的缺陷或不足,提供一种度电成本低、控制简单、风能利用率高、功率大的柔性直流输电用双馈型磁悬浮垂直轴风力发电系统。The main purpose of the present invention is to provide a doubly-fed magnetic levitation vertical axis wind power generation system for flexible DC transmission with low kWh cost, simple control, high wind energy utilization rate and high power in view of the defects or deficiencies in the existing technology. .

为了达到以上目的,本发明柔性直流输电用双馈型磁悬浮垂直轴风力发电系统,包括:风机旋转体、永磁发电机、磁悬浮盘式电机、主功率变流器、捕获变流器、阻尼变流器、升压变流器以及送端站变流器、气隙传感器以及编码器等组成,协同完成风机四点悬浮、风能最大捕获、永磁发电机额定功率控制、风机阻尼调控以及直流馈电入电网。In order to achieve the above objectives, the doubly-fed magnetic levitation vertical axis wind power generation system for flexible DC power transmission of the present invention includes: a wind turbine rotating body, a permanent magnet generator, a magnetic levitation disk motor, a main power converter, a capture converter, and a damping transformer. It is composed of a converter, a boost converter, a transmitter station converter, an air gap sensor and an encoder, etc., which jointly complete the four-point suspension of the wind turbine, the maximum capture of wind energy, the rated power control of the permanent magnet generator, the damping control of the wind turbine and the DC feedback. electricity into the grid.

所述风机旋转体由风机桨叶、永磁发电机转子、阻尼绕组以及机壳构成,旋转捕获风能,驱动永磁发电机转子永磁体旋转发电;所述永磁发电机为风电转化主发电机,其定子输出经主功率变流器、升压变流器以及送端站变流器与柔性直流母线相联,将风机旋转体捕获能量,转化成电能馈入直流输电线路。The wind turbine rotating body is composed of fan blades, a permanent magnet generator rotor, a damping winding and a casing. It rotates to capture wind energy and drives the permanent magnet generator rotor to rotate and generate electricity; the permanent magnet generator is the main generator for wind power conversion. , its stator output is connected to the flexible DC bus through the main power converter, boost converter and terminal station converter, which captures energy from the rotating body of the wind turbine and converts it into electrical energy that is fed into the DC transmission line.

所述主功率变流器为三相非可控整流器,其与永磁发电机定子相连,将定子输出的变频变压交流电整流,所述升压变流器为BOOST变流器,提升三倍非可控整流器输出电压,所述送端站变流器为BOOST变流器,高压输出侧与柔性直流输电线路相联,维持升压变流器输出电压恒定。The main power converter is a three-phase non-controllable rectifier, which is connected to the stator of the permanent magnet generator to rectify the variable frequency alternating current output from the stator. The boost converter is a BOOST converter, which increases the power by three times. The output voltage of the non-controllable rectifier, the end-station converter is a BOOST converter, and the high-voltage output side is connected to the flexible DC transmission line to maintain a constant output voltage of the boost converter.

所述磁悬浮盘式电机为风能调控辅助发电装置,包括阻尼绕组和转矩绕组,所述阻尼绕组为圆盘形结构,按等分原则分成四组,每组绕组分别与阻尼变流器相联,独立控制各阻尼绕组电流,在阻尼绕组和转矩绕组之间产生不同电磁吸力,调控风机旋转体和塔架之间的悬浮气隙和摩擦转矩;所述盘式电机转矩绕组的额定功率设置为永磁发电机额定功率的三分之一,并经捕获变流器和非可控整流器直流输出耦合,转矩绕组在阻尼绕组励磁电流作用下,产生电磁转矩,调控永磁发电机风能最大捕获和额定功率控制;所述阻尼变流器为四个H桥变流器,分别对应四个阻尼绕组,其一端与阻尼绕组相联,另一端与非可控整流器输出端相联,根据四个气隙传感器测量信息,调节绕组电流,四点悬浮风机旋转体。The magnetic levitation disc motor is an auxiliary power generation device for wind energy regulation, including a damping winding and a torque winding. The damping winding is a disc-shaped structure and is divided into four groups according to the principle of equal division. Each group of windings is respectively connected to a damping converter. , independently controls the current of each damping winding, generates different electromagnetic attractions between the damping winding and the torque winding, and regulates the suspended air gap and friction torque between the fan rotating body and the tower; the rated value of the disk motor torque winding The power is set to one-third of the rated power of the permanent magnet generator, and is coupled with the DC output of the capture converter and the non-controllable rectifier. The torque winding generates electromagnetic torque under the action of the damping winding excitation current to regulate the permanent magnet power generation. Maximum wind energy capture and rated power control; the damping converters are four H-bridge converters, corresponding to four damping windings, one end of which is connected to the damping winding, and the other end is connected to the output end of the non-controllable rectifier , based on the measurement information of four air gap sensors, the winding current is adjusted, and the four-point floating fan rotating body is suspended.

所述四个气隙传感器均匀安装在盘式电机转矩绕组下侧,测量转矩绕组和四个对称分布阻尼绕组之间气隙;所述编码器安装在塔架上端,旋转轴和风机旋转体弹性联结,测量旋转体转速和旋转角度,为盘式电机转矩绕组的捕获变流器控制,反馈转速和解耦所需旋转角度。The four air gap sensors are evenly installed on the lower side of the disk motor torque winding to measure the air gap between the torque winding and the four symmetrically distributed damping windings; the encoder is installed on the upper end of the tower, and the rotating shaft and fan rotate. Body elastic connection, measuring the rotation speed and rotation angle of the rotating body, capturing the converter control of the disk motor torque winding, feedback speed and decoupling required rotation angle.

上述柔性直流输电用双馈型磁悬浮垂直轴风力发电系统的控制方法采用如下步骤:The control method of the above-mentioned doubly-fed maglev vertical axis wind power generation system for flexible DC transmission adopts the following steps:

步骤1,风机旋转体四点悬浮:当风速V w 达到起动风速V in 后,首先悬浮准备,调节四个阻尼变流器输出电流i f(i),其中i=1,2,3,4,对应四个阻尼绕组,逐渐增大盘式电机转矩绕组和阻尼绕组之间的电磁吸力f e (i),直至四个电磁吸力的总和f e (1)+f e (2)+f e (3)+f e (4)=mgmg为风机旋转体重力;接着风机旋转体悬浮起动,设定四点悬浮气隙参考δ ref,四个阻尼变流器根据对应气隙传感器实测的悬浮气隙δ(i)分别求取各阻尼绕组的悬浮气隙误差e(i)=δ ref-δ(i),在比例积分微分PID调节器作用下,产生励磁电流主参考i f0 *(i),进而根据四个悬浮气隙误差e(i),计算四个悬浮气隙的同步误差E(i)=2e(i)-e(i+1)-e(i-1),在比例微分PD控制器作用下,获取四点悬浮同步差异的补偿电流参考值i f1 *(i),进而给出四个阻尼绕组励磁电流的总参考为i f *(i)=i f0 *(i)+i f1 *(i),将四个阻尼绕组励磁电流参考i f *(i)送至对应的阻尼变流器,产生含同步误差补偿的四点悬浮电磁吸力f e (i),将风机旋转体稳定悬浮在悬浮气隙δ ref处,风机旋转体无摩擦悬浮起动,开始捕获能量,此时捕获变流器、主功率变流器和升压变流器均处于不控状态。Step 1. Four-point suspension of the fan rotating body: when the wind speed V w reaches the starting wind speed V in , first prepare for suspension and adjust the four damping converter output currents i f (i), where i =1,2,3,4 , corresponding to the four damping windings, gradually increase the electromagnetic attraction force f e (i) between the disk motor torque winding and the damping winding, until the sum of the four electromagnetic attraction forces f e (1)+ f e (2)+ f e (3)+ f e (4)= mg , mg is the weight of the fan rotating body; then the fan rotating body is started in suspension, and the four-point floating air gap reference δ ref is set, and the four damping converters are measured according to the corresponding air gap sensors. Suspension air gap δ (i) , calculate the suspension air gap error e (i) of each damping winding respectively = δ ref - δ (i), under the action of the proportional integral differential PID regulator, the main reference of the excitation current i f0 * (i), and then based on the four suspended air gap errors e (i), calculate the synchronization error of the four suspended air gaps E (i)=2 e (i)- e (i+1)- e (i-1) , under the action of the proportional differential PD controller, the compensation current reference value i f1 * (i) of the four-point suspension synchronization difference is obtained, and then the total reference value of the four damping winding excitation currents is given as i f * (i) = i f0 * (i)+ i f1 * (i), send the four damping winding excitation current reference i f * (i) to the corresponding damping converter to generate four-point suspended electromagnetic attraction f e (i) with synchronization error compensation ), the fan rotating body is stably suspended at the floating air gap δ ref . The fan rotating body starts to float without friction and begins to capture energy. At this time, the capturing converter, main power converter and boost converter are all out of control. state.

步骤2,风能最大捕获:当风速V w 低于额定风速V N ,风机旋转体在阻尼变流器作用下四点悬浮稳定后,进入风能最大捕获,首先根据风速和垂直轴风机功率曲线获取优化转速ω opt,并设定为转速参考ω ref,捕获变流器根据编码器实测转速ω和旋转角度θ,按照转子磁链定向将盘式电机输出电流解耦成转矩电流i q和励磁电流i d 接着计算转速偏差e ω= ω opt-ω,在PID控制器作用下产生转矩电流参考i q *,进而调控盘式电机转矩绕组的电磁转矩T d和输出功率P d,将风机旋转体稳定控制在优化转速ω opt;所述永磁发电机转子在风机桨叶和盘式电机转矩绕组共同作用下,按照优化转速ω opt旋转,在永磁发电机定子绕组中感应产生三相电流,经非可控整流器整流、升压变流器以及送端站变流器,馈入柔性直流电路。Step 2, maximum capture of wind energy: When the wind speed V w is lower than the rated wind speed V N , the wind turbine rotor is suspended and stabilized at four points under the action of the damping converter, and then enters the maximum capture of wind energy. First, the optimization is obtained based on the wind speed and vertical axis fan power curve. The rotation speed ω opt is set to the rotation speed reference ω ref . The capture converter decouples the disk motor output current into a torque current i q and an excitation current according to the rotor flux orientation according to the encoder’s measured speed ω and rotation angle θ . i d , then calculate the speed deviation e ω = ω opt - ω , and generate the torque current reference i q * under the action of the PID controller, thereby regulating the electromagnetic torque T d and output power P d of the disk motor torque winding, The fan rotating body is stably controlled at the optimized speed ω opt ; the permanent magnet generator rotor rotates at the optimized speed ω opt under the joint action of the fan blades and the disk motor torque winding, and is induced in the stator winding of the permanent magnet generator. Three-phase current is generated, rectified by a non-controllable rectifier, boost converter and terminal station converter, and then fed into the flexible DC circuit.

步骤3,永磁发电机额定功率控制:当风速V w 超过额定风速V N 后,同时盘式电机电磁转矩T dT dmax(δ ref),其中T dmax(δ ref)为盘式电机额定悬浮气隙δ ref下的最大电磁转矩,风机旋转体在阻尼变流器作用下四点稳定悬浮,捕获变流器根据实测的永磁发电机输出功率P m和额定功率P N ,计算功率偏差e P= P N -P m,,在PID控制器作用下产生转矩电流参考i q *,调控盘式电机转矩绕组的电磁转矩T d和输出功率P d,实时比较T dT dmax(δ ref)关系,当T dT dmax(δ ref),按照△δ ref幅度逐级增大悬浮气隙参考δ ref 阻尼变流器根据新调整的悬浮气隙参考δ ref,增大四个阻尼绕组电流和电磁吸力,随着悬浮气隙δ增大,T dmax(δ)逐步增大,直至达到盘式电机最大电磁转矩T dmax,此时对应最大悬浮气隙为δ max ,风机旋转体完全降落在风机塔架上,严格控制永磁发电机额定功率P N 输出。Step 3, permanent magnet generator rated power control: when the wind speed V w exceeds the rated wind speed V N , at the same time, the electromagnetic torque of the disc motor T dT dmax ( δ ref ), where T dmax ( δ ref ) is the disc motor The maximum electromagnetic torque under the rated suspension air gap δ ref , the fan rotating body is stably suspended at four points under the action of the damping converter, and the capture converter is calculated based on the measured output power P m and rated power P N of the permanent magnet generator. The power deviation e P = P N - P m , generates a torque current reference i q * under the action of the PID controller, regulates the electromagnetic torque T d and output power P d of the disk motor torque winding, and compares T d in real time and T dmax ( δ ref ), when T dT dmax ( δ ref ), the suspension air gap reference δ ref is gradually increased according to the △ δ ref amplitude , and the damping converter adjusts according to the newly adjusted suspension air gap reference δ ref , increase the current of the four damping windings and the electromagnetic suction force. As the suspension air gap δ increases, T dmax ( δ ) gradually increases until it reaches the maximum electromagnetic torque T dmax of the disk motor. At this time, the corresponding maximum suspension air gap is δ max , the wind turbine rotating body completely lands on the wind turbine tower, and the rated power P N output of the permanent magnet generator is strictly controlled.

步骤4,风机阻尼调控:当风速V w 超过额定风速V N ,而小于切出风速V out ,同时悬浮气隙δ达到δ max ,此时风机阻尼调控,由阻尼变流器和盘式电机阻尼绕组联合控制风机旋转体和塔架之间的摩擦转矩T f,盘式电机转矩绕组在捕获变流器作用下进行盘式电机最大转矩补偿控制,控制永磁发电机严格额定功率P N 输出,所述阻尼变流器根据实测的永磁发电机输出功率P m和额定功率P N ,计算实时功率偏差e P= P N -P m,在PID控制器作用下产生总i f *,按等分原则分别送给四个阻尼变流器作电流参考,改变四个阻尼绕组电流i f(i)和电磁吸力f e (i),进而改变摩擦转矩T f;捕获变流器根据阻尼绕组产生T f,实时计算盘式电机补偿转矩T c=T dmax-T f,按照直接转矩控制,设定转矩电流参考i q *,快速补偿和消纳多余风机功率,经由捕获变流器与永磁发电机经非可控整流器输出的额定功率汇流,经BOOST升压变、送端站变流器馈入电入电网。Step 4, fan damping control: When the wind speed Vw exceeds the rated wind speed VN, but is less than the cut-out wind speed Vout , and the suspended air gap δ reaches δmax , the fan damping is controlled by the damping converter and the disk motor damping. The windings jointly control the friction torque T f between the wind turbine rotating body and the tower. The disc motor torque winding performs maximum torque compensation control of the disc motor under the action of the capture converter, and controls the strict rated power P of the permanent magnet generator. N output, the damping converter calculates the real-time power deviation e P = P N - P m based on the measured permanent magnet generator output power P m and rated power P N , and generates a total if * under the action of the PID controller . , are sent to four damping converters as current references according to the principle of equal division, changing the four damping winding currents if (i) and electromagnetic attraction f e ( i ), thereby changing the friction torque T f ; capturing the converter According to the T f generated by the damping winding, the disk motor compensation torque T c = T dmax - T f is calculated in real time. According to the direct torque control, the torque current reference i q * is set to quickly compensate and absorb the excess fan power. The rated power output of the captured converter and permanent magnet generator is combined through the non-controllable rectifier, and the power is fed into the grid through the BOOST step-up transformer and the terminal station converter.

步骤5,当风速大于切出风速时,即V w >V out ,风机桨叶顺桨,系统切出保护,进入停机状态。Step 5: When the wind speed is greater than the cut-out wind speed, that is, V w > V out , the fan blades feather, the system cuts out the protection, and enters the shutdown state.

本发明的有益效果是:The beneficial effects of the present invention are:

1)由永磁同步发电机以及1/3额定功率等级的磁悬浮盘式电机,共同构成双馈电机制,其中主功率输出为永磁同步发电机,盘式电机作为功率调控单元和悬浮执行机构,灵活调控风机旋转体悬浮以及旋转阻尼,实现低风速起动以及无摩擦风能捕获。1) A double-feed mechanism is composed of a permanent magnet synchronous generator and a magnetic levitation disk motor with 1/3 rated power level. The main power output is the permanent magnet synchronous generator, and the disk motor serves as the power control unit and suspension actuator. , flexibly adjust the suspension and rotation damping of the fan rotating body to achieve low wind speed starting and frictionless wind energy capture.

2)作为功率调控单元的盘式电机因额定功率相对较小,大幅提高了风能捕获动态响应速度和风能利用率;盘式电机的功率调控机制,使得永磁同步发电机机侧变流器由可控全桥变流器调整为非可控整流器,大幅降低了垂直轴风力发电成本以及可靠性。2) As a power control unit, the disc motor has a relatively small rated power, which greatly improves the dynamic response speed and wind energy utilization of wind energy capture; the power control mechanism of the disc motor makes the permanent magnet synchronous generator machine-side converter The controllable full-bridge converter is adjusted to a non-controllable rectifier, which greatly reduces the cost and reliability of vertical axis wind power generation.

3)风机旋转体的四点悬浮机制可灵活控制悬浮,利于实现对风速波动所致倾覆力矩进行平抑,确保风机旋转体多自由度稳定悬浮,实现低风速启动甚至微风启动,同时还可作为发电机发电,提升1/3的风机总功率,大大提高风能利用率,尤其适合于弱风型风电场。3) The four-point suspension mechanism of the wind turbine rotating body can flexibly control the suspension, which is beneficial to suppressing the overturning moment caused by wind speed fluctuations, ensuring stable suspension of the wind turbine rotating body with multiple degrees of freedom, enabling low wind speed or even light wind starting, and can also be used as a power generator. The generator generates electricity, increasing the total power of the wind turbine by 1/3, greatly improving the utilization rate of wind energy, and is especially suitable for weak wind wind farms.

附图说明Description of drawings

图1为本发明柔性直流输电用双馈型磁悬浮垂直轴风力发电系统的结构示意图。Figure 1 is a schematic structural diagram of a doubly-fed magnetic levitation vertical axis wind power generation system for flexible DC transmission according to the present invention.

图2为本发明盘式电机的阻尼绕组四点悬浮分割机制以及悬浮原理结构示意图。Figure 2 is a schematic diagram of the four-point suspension division mechanism and suspension principle structure of the damping winding of the disk motor of the present invention.

图3为本发明柔性直流输电用双馈型磁悬浮垂直轴风力发电系统工作原理图。Figure 3 is a working principle diagram of the doubly-fed magnetic levitation vertical axis wind power generation system for flexible DC transmission according to the present invention.

图中:1-风机轴向桨叶,2-永磁发电机定子,3-永磁发电机转子,4-塔架,5-阻尼绕组,6-风机径向桨叶,7-转矩绕组,8-风机旋转体,9-主功率变流器,10-捕获变流器,11-升压变流器,12-送端站变流器,14-阻尼变流器4,15,-阻尼变流器1,16-阻尼变流器3,17-阻尼变流器2, 18-编码器,19-气隙传感器,20-阻尼绕组1,21-阻尼绕组2,22-阻尼绕组4,23-阻尼绕组3。In the picture: 1-fan axial blades, 2-permanent magnet generator stator, 3-permanent magnet generator rotor, 4-tower, 5-damping winding, 6-fan radial blades, 7-torque winding , 8-fan rotating body, 9-main power converter, 10-capture converter, 11-boost converter, 12-sending terminal converter, 14-damping converter 4, 15,- Damping converter 1, 16-damping converter 3, 17-damping converter 2, 18-encoder, 19-air gap sensor, 20-damping winding 1, 21-damping winding 2, 22-damping winding 4 , 23-damping winding 3.

具体实施方式Detailed ways

下面结合附图,对本发明作进一步详细说明。The present invention will be further described in detail below in conjunction with the accompanying drawings.

如图1、图2所示,本发明柔性直流输电用双馈型磁悬浮垂直轴风力发电系统,包括:风机旋转体8、永磁发电机(2,3)、磁悬浮盘式电机(5,7)、主功率变流器9、捕获变流器10、阻尼变流器(14~17)、升压变流器11以及送端站变流器12、气隙传感器19以及编码器18等组成,协同完成风机四点悬浮、风能最大捕获、永磁发电机额定功率控制、风机阻尼调控以及直流馈电入电网。As shown in Figures 1 and 2, the doubly-fed magnetic levitation vertical axis wind power generation system for flexible DC transmission of the present invention includes: a wind turbine rotating body 8, a permanent magnet generator (2, 3), and a magnetic levitation disk motor (5, 7 ), main power converter 9, capture converter 10, damping converter (14~17), boost converter 11 and end station converter 12, air gap sensor 19 and encoder 18, etc. , collaboratively complete the four-point suspension of the wind turbine, maximum capture of wind energy, rated power control of the permanent magnet generator, damping control of the wind turbine, and DC feed into the power grid.

风机旋转体由风机桨叶(1,6)、永磁发电机转子3、阻尼绕组(20~23)以及机壳构成,旋转捕获风能,驱动永磁发电机转子3永磁体旋转发电;所述永磁发电机为风电转化主发电机,其定子输出经主功率变流器9、升压变流器11以及送端站变流器12与柔性直流母线相联,将风机旋转体8捕获能量,转化成电能馈入直流输电线路。The fan rotating body is composed of fan blades (1, 6), permanent magnet generator rotor 3, damping windings (20~23) and a casing. It rotates to capture wind energy and drives the permanent magnet generator rotor 3 to rotate and generate electricity; The permanent magnet generator is the main generator for wind power conversion. Its stator output is connected to the flexible DC bus through the main power converter 9, the boost converter 11 and the end station converter 12, and the wind turbine rotating body 8 captures energy. , converted into electrical energy and fed into the DC transmission line.

所述主功率变流器9为三相非可控整流器,其与永磁发电机定子2相连,将定子输出的变频变压交流电整流,所述升压变流器11为BOOST变流器,提升三倍非可控整流器输出电压,所述送端站变流器12为BOOST变流器,高压输出侧与柔性直流输电线路相联,维持升压变流器输出电压恒定。The main power converter 9 is a three-phase non-controllable rectifier, which is connected to the permanent magnet generator stator 2 and rectifies the variable frequency AC power output by the stator. The boost converter 11 is a BOOST converter. To increase the output voltage of the non-controllable rectifier by three times, the end-station converter 12 is a BOOST converter, and the high-voltage output side is connected to the flexible DC transmission line to maintain a constant output voltage of the boost converter.

所述磁悬浮盘式电机为风能调控辅助发电装置,包括阻尼绕组(20~23)和转矩绕组7,所述阻尼绕组(20~23)为圆盘形结构,按等分原则分成四组,每组绕组分别与阻尼变流器(14~17)相联,独立控制各阻尼绕组电流,在阻尼绕组和转矩绕组之间产生不同电磁吸力,调控风机旋转体8和塔架4之间的悬浮气隙和摩擦转矩;所述盘式电机转矩绕组7的额定功率设置为永磁发电机额定功率的三分之一,并经捕获变流器10和非可控整流器9直流输出耦合,转矩绕组7在阻尼绕组励磁电流作用下,产生电磁转矩,调控永磁发电机风能最大捕获和额定功率控制;所述阻尼变流器(14~17)为四个H桥变流器,分别对应四个阻尼绕组(20~23),其一端与阻尼绕组相联,另一端与非可控整流器输出端相联,根据四个气隙传感器测量信息,调节绕组电流,四点悬浮风机旋转体。The magnetic levitation disc motor is an auxiliary power generation device for wind energy regulation, including a damping winding (20~23) and a torque winding 7. The damping winding (20~23) is a disc-shaped structure and is divided into four groups according to the principle of equal division. Each set of windings is respectively connected to a damping converter (14~17), which independently controls the current of each damping winding, generates different electromagnetic suction forces between the damping windings and torque windings, and regulates the tension between the wind turbine rotating body 8 and the tower 4. Suspension air gap and friction torque; the rated power of the disk motor torque winding 7 is set to one third of the rated power of the permanent magnet generator, and is coupled with the DC output of the capture converter 10 and the non-controllable rectifier 9 , the torque winding 7 generates electromagnetic torque under the action of the damping winding excitation current, regulating the maximum capture of wind energy and rated power control of the permanent magnet generator; the damping converters (14~17) are four H-bridge converters , respectively corresponding to four damping windings (20~23), one end of which is connected to the damping winding, and the other end is connected to the output end of the non-controllable rectifier. According to the measurement information of the four air gap sensors, the winding current is adjusted, and the four-point suspension fan rotating body.

所述四个气隙传感器均匀安装在盘式电机转矩绕组下侧,测量转矩绕组和四个对称分布阻尼绕组之间气隙;所述编码器安装在塔架上端,旋转轴和风机旋转体弹性联结,测量旋转体转速和旋转角度,为盘式电机转矩绕组的捕获变流器控制,反馈转速和解耦所需旋转角度。The four air gap sensors are evenly installed on the lower side of the disk motor torque winding to measure the air gap between the torque winding and the four symmetrically distributed damping windings; the encoder is installed on the upper end of the tower, and the rotating shaft and fan rotate. Body elastic connection, measuring the rotation speed and rotation angle of the rotating body, capturing the converter control of the disk motor torque winding, feedback speed and decoupling required rotation angle.

上述柔性直流输电用双馈型磁悬浮垂直轴风力发电系统的控制方法采用如下步骤:The control method of the above-mentioned doubly-fed maglev vertical axis wind power generation system for flexible DC transmission adopts the following steps:

步骤1,风机旋转体四点悬浮:当风速V w 达到起动风速V in 后,首先悬浮准备,调节四个阻尼变流器输出电流i f(i),其中i=1,2,3,4,对应四个阻尼绕组,逐渐增大盘式电机转矩绕组和阻尼绕组之间的电磁吸力f e (i),直至四个电磁吸力的总和f e (1)+f e (2)+f e (3)+f e (4)=mgmg为风机旋转体重力;接着风机旋转体悬浮起动,设定四点悬浮气隙参考δ ref,四个阻尼变流器根据对应气隙传感器实测的悬浮气隙δ(i)分别求取各阻尼绕组的悬浮气隙误差e(i)=δ ref-δ(i),在比例积分微分PID调节器作用下,产生励磁电流主参考i f0 *(i),进而根据四个悬浮气隙误差e(i),计算四个悬浮气隙的同步误差E(i)=2e(i)-e(i+1)-e(i-1),在比例微分PD控制器作用下,获取四点悬浮同步差异的补偿电流参考值i f1 *(i),进而给出四个阻尼绕组励磁电流的总参考为i f *(i)=i f0 *(i)+i f1 *(i),将四个阻尼绕组励磁电流参考i f *(i)送至对应的阻尼变流器,产生含同步误差补偿的四点悬浮电磁吸力f e (i),将风机旋转体稳定悬浮在悬浮气隙δ ref处,风机旋转体无摩擦悬浮起动,开始捕获能量,此时捕获变流器、主功率变流器和升压变流器均处于不控状态。Step 1. Four-point suspension of the fan rotating body: when the wind speed V w reaches the starting wind speed V in , first prepare for suspension and adjust the four damping converter output currents i f (i), where i =1,2,3,4 , corresponding to the four damping windings, gradually increase the electromagnetic attraction force f e (i) between the disk motor torque winding and the damping winding, until the sum of the four electromagnetic attraction forces f e (1)+ f e (2)+ f e (3)+ f e (4)= mg , mg is the weight of the fan rotating body; then the fan rotating body is started in suspension, and the four-point floating air gap reference δ ref is set, and the four damping converters are measured according to the corresponding air gap sensors. Suspension air gap δ (i) , calculate the suspension air gap error e (i) of each damping winding respectively = δ ref - δ (i), under the action of the proportional integral differential PID regulator, the main reference of the excitation current i f0 * (i), and then based on the four suspended air gap errors e (i), calculate the synchronization error of the four suspended air gaps E (i)=2 e (i)- e (i+1)- e (i-1) , under the action of the proportional differential PD controller, the compensation current reference value i f1 * (i) of the four-point suspension synchronization difference is obtained, and then the total reference value of the four damping winding excitation currents is given as i f * (i) = i f0 * (i)+ i f1 * (i), send the four damping winding excitation current reference i f * (i) to the corresponding damping converter to generate four-point suspended electromagnetic attraction f e (i) with synchronization error compensation ), the fan rotating body is stably suspended at the floating air gap δ ref . The fan rotating body starts to float without friction and begins to capture energy. At this time, the capturing converter, main power converter and boost converter are all out of control. state.

步骤2,风能最大捕获:当风速V w 低于额定风速V N ,风机旋转体在阻尼变流器作用下四点悬浮稳定后,进入风能最大捕获,首先根据风速和垂直轴风机功率曲线获取优化转速ω opt,并设定为转速参考ω ref,捕获变流器根据编码器实测转速ω和旋转角度θ,按照转子磁链定向将盘式电机输出电流解耦成转矩电流i q和励磁电流i d 接着计算转速偏差e ω= ω opt-ω,在PID控制器作用下产生转矩电流参考i q *,进而调控盘式电机转矩绕组的电磁转矩T d和输出功率P d,将风机旋转体稳定控制在优化转速ω opt;所述永磁发电机转子在风机桨叶和盘式电机转矩绕组共同作用下,按照优化转速ω opt旋转,在永磁发电机定子绕组中感应产生三相电流,经非可控整流器整流、升压变流器以及送端站变流器,馈入柔性直流电路。Step 2, maximum capture of wind energy: When the wind speed V w is lower than the rated wind speed V N , the wind turbine rotor is suspended and stabilized at four points under the action of the damping converter, and then enters the maximum capture of wind energy. First, the optimization is obtained based on the wind speed and vertical axis fan power curve. The rotation speed ω opt is set to the rotation speed reference ω ref . The capture converter decouples the disk motor output current into a torque current i q and an excitation current according to the rotor flux orientation according to the encoder’s measured speed ω and rotation angle θ . i d , then calculate the speed deviation e ω = ω opt - ω , and generate the torque current reference i q * under the action of the PID controller, thereby regulating the electromagnetic torque T d and output power P d of the disk motor torque winding, The fan rotating body is stably controlled at the optimized speed ω opt ; the permanent magnet generator rotor rotates at the optimized speed ω opt under the joint action of the fan blades and the disk motor torque winding, and is induced in the stator winding of the permanent magnet generator. Three-phase current is generated, rectified by a non-controllable rectifier, boost converter and terminal station converter, and then fed into the flexible DC circuit.

步骤3,永磁发电机额定功率控制:当风速V w 超过额定风速V N 后,同时盘式电机电磁转矩T dT dmax(δ ref),其中T dmax(δ ref)为盘式电机额定悬浮气隙δ ref下的最大电磁转矩,风机旋转体在阻尼变流器作用下四点稳定悬浮,捕获变流器根据实测的永磁发电机输出功率P m和额定功率P N ,计算功率偏差e P= P N -P m,,在PID控制器作用下产生转矩电流参考i q *,调控盘式电机转矩绕组的电磁转矩T d和输出功率P d,实时比较T dT dmax(δ ref)关系,当T dT dmax(δ ref),按照△δ ref幅度逐级增大悬浮气隙参考δ ref 阻尼变流器根据新调整的悬浮气隙参考δ ref,增大四个阻尼绕组电流和电磁吸力,随着悬浮气隙δ增大,T dmax(δ)逐步增大,直至达到盘式电机最大电磁转矩T dmax,此时对应最大悬浮气隙为δ max ,风机旋转体完全降落在风机塔架上,严格控制永磁发电机额定功率P N 输出。Step 3, permanent magnet generator rated power control: when the wind speed V w exceeds the rated wind speed V N , at the same time, the electromagnetic torque of the disc motor T dT dmax ( δ ref ), where T dmax ( δ ref ) is the disc motor The maximum electromagnetic torque under the rated suspension air gap δ ref , the fan rotating body is stably suspended at four points under the action of the damping converter, and the capture converter is calculated based on the measured permanent magnet generator output power P m and rated power P N The power deviation e P = P N - P m , generates a torque current reference i q * under the action of the PID controller, regulates the electromagnetic torque T d and output power P d of the disk motor torque winding, and compares T d in real time and T dmax ( δ ref ), when T dT dmax ( δ ref ), the suspension air gap reference δ ref is gradually increased according to the amplitude of △ δ ref , and the damping converter adjusts the suspension air gap reference δ ref according to the new adjustment . , increase the current of the four damping windings and the electromagnetic suction force. As the suspension air gap δ increases, T dmax ( δ ) gradually increases until it reaches the maximum electromagnetic torque T dmax of the disk motor. At this time, the corresponding maximum suspension air gap is δ max , the wind turbine rotating body completely lands on the wind turbine tower, and the rated power P N output of the permanent magnet generator is strictly controlled.

步骤4,风机阻尼调控:当风速V w 超过额定风速V N ,而小于切出风速V out ,同时悬浮气隙δ达到δ max ,此时风机阻尼调控,由阻尼变流器和盘式电机阻尼绕组联合控制风机旋转体和塔架之间的摩擦转矩T f,盘式电机转矩绕组在捕获变流器作用下进行盘式电机最大转矩补偿控制,控制永磁发电机严格额定功率P N 输出,所述阻尼变流器根据实测的永磁发电机输出功率P m和额定功率P N ,计算实时功率偏差e P= P N -P m,在PID控制器作用下产生总i f *,按等分原则分别送给四个阻尼变流器作电流参考,改变四个阻尼绕组电流i f(i)和电磁吸力f e (i),进而改变摩擦转矩T f;捕获变流器根据阻尼绕组产生T f,实时计算盘式电机补偿转矩T c=T dmax-T f,按照直接转矩控制,设定转矩电流参考i q *,快速补偿和消纳多余风机功率,经由捕获变流器与永磁发电机经非可控整流器输出的额定功率汇流,经BOOST升压变、送端站变流器馈入电入电网。Step 4, fan damping control: When the wind speed Vw exceeds the rated wind speed VN, but is less than the cut-out wind speed Vout , and the suspended air gap δ reaches δmax , the fan damping is controlled by the damping converter and the disk motor damping. The windings jointly control the friction torque T f between the wind turbine rotating body and the tower. The disc motor torque winding performs maximum torque compensation control of the disc motor under the action of the capture converter, and controls the strict rated power P of the permanent magnet generator. N output, the damping converter calculates the real-time power deviation e P = P N - P m based on the measured permanent magnet generator output power P m and rated power P N , and generates a total if * under the action of the PID controller . , are sent to four damping converters as current references according to the principle of equal division, changing the four damping winding currents if (i) and electromagnetic attraction f e ( i ), thereby changing the friction torque T f ; capturing the converter According to the T f generated by the damping winding, the disk motor compensation torque T c = T dmax - T f is calculated in real time. According to the direct torque control, the torque current reference i q * is set to quickly compensate and absorb the excess fan power via The rated power output of the captured converter and permanent magnet generator is combined through the non-controllable rectifier, and the power is fed into the grid through the BOOST step-up transformer and the terminal station converter.

步骤5,当风速大于切出风速时,即V w >V out ,风机桨叶顺桨,系统切出保护,进入停机状态。Step 5: When the wind speed is greater than the cut-out wind speed, that is, V w > V out , the fan blades feather, the system cuts out the protection, and enters the shutdown state.

Claims (2)

1.一种柔性直流输电用双馈型磁悬浮垂直轴风力发电系统,其特征在于,包括风机旋转体、永磁发电机、磁悬浮盘式电机、主功率变流器、捕获变流器、阻尼变流器、升压变流器以及送端站变流器、气隙传感器以及编码器等组成,所述永磁发电机为主功率输出,所述磁悬浮盘式电机为功率调控单元和悬浮执行机构,共同构成双馈电机制,协同完成风机四点悬浮、风能最大捕获、永磁发电机额定功率控制、风机阻尼调控以及直流馈电入电网,实现低风速起动以及无摩擦风能捕获;所述风机旋转体由风机桨叶、永磁发电机转子、阻尼绕组以及机壳构成,旋转捕获风能,驱动永磁发电机转子永磁体旋转发电;所述永磁发电机为风电转化主发电机,其定子输出经主功率变流器、升压变流器以及送端站变流器与柔性直流母线相联,将风机旋转体捕获能量,转化成电能馈入直流输电线路;所述主功率变流器为三相非可控整流器,其与永磁发电机定子相连,将定子输出的变频变压交流电整流,所述升压变流器为BOOST变流器,提升三倍的非可控整流器输出电压,所述送端站变流器为BOOST变流器,高压输出侧与柔性直流输电线路相联,维持升压变流器输出电压恒定;所述磁悬浮盘式电机为风能调控辅助发电装置,包括阻尼绕组和转矩绕组,所述阻尼绕组为圆盘形结构,按等分原则分成四组,每组绕组分别与阻尼变流器相联,独立控制各阻尼绕组电流,在阻尼绕组和转矩绕组之间产生不同电磁吸力,调控风机旋转体和塔架之间的悬浮气隙和摩擦转矩;所述盘式电机转矩绕组的额定功率设置为永磁发电机额定功率的三分之一,并经捕获变流器和非可控整流器直流输出耦合,转矩绕组在阻尼绕组励磁电流作用下,产生电磁转矩,调控永磁发电机风能最大捕获和额定功率控制;所述气隙传感器为四个,分别均匀安装在盘式电机转矩绕组下侧,测量转矩绕组和四个对称分布阻尼绕组之间气隙;所述阻尼变流器为四个H桥变流器,分别对应四个阻尼绕组,其一端与阻尼绕组相联,另一端与非可控整流器输出端相联,根据四个气隙传感器测量信息,调节绕组电流,四点悬浮风机旋转体;所述编码器安装在塔架上端,旋转轴和风机旋转体弹性联结,测量旋转体转速和旋转角度,为盘式电机转矩绕组的捕获变流器控制,反馈转速和解耦所需旋转角度。1. A doubly-fed magnetic levitation vertical axis wind power generation system for flexible DC transmission, which is characterized by including a wind turbine rotating body, a permanent magnet generator, a magnetic levitation disk motor, a main power converter, a capture converter, and a damping transformer. It is composed of a converter, a boost converter, a transmitter station converter, an air gap sensor and an encoder. The permanent magnet generator is the main power output, and the magnetic levitation disk motor is the power control unit and suspension actuator. , together form a double feed mechanism, collaboratively completing the four-point suspension of the wind turbine, maximum wind energy capture, permanent magnet generator rated power control, wind turbine damping control and DC feed into the grid, achieving low wind speed starting and frictionless wind energy capture; the wind turbine The rotating body is composed of a fan blade, a permanent magnet generator rotor, a damping winding and a casing. The rotation captures wind energy and drives the permanent magnet generator rotor to rotate and generate electricity. The permanent magnet generator is the main generator for wind power conversion, and its stator The output is connected to the flexible DC bus through the main power converter, the boost converter and the terminal station converter, and the fan rotating body captures the energy and converts it into electrical energy that is fed into the DC transmission line; the main power converter It is a three-phase non-controllable rectifier, which is connected to the stator of the permanent magnet generator to rectify the variable frequency AC power output by the stator. The boost converter is a BOOST converter, which triples the output voltage of the non-controllable rectifier. , the end-station converter is a BOOST converter, and the high-voltage output side is connected to the flexible DC transmission line to maintain a constant output voltage of the boost converter; the magnetic levitation disk motor is a wind energy regulation auxiliary power generation device, including Damping winding and torque winding. The damping winding has a disk-shaped structure and is divided into four groups according to the principle of equal division. Each group of windings is respectively connected to the damping converter and independently controls the current of each damping winding. Between the damping winding and the torque Different electromagnetic attractions are generated between the windings to regulate the suspended air gap and friction torque between the fan rotating body and the tower; the rated power of the disk motor torque winding is set to one-third of the rated power of the permanent magnet generator , and coupled with the DC output of the capture converter and the non-controllable rectifier, the torque winding generates electromagnetic torque under the action of the damping winding excitation current, regulating the maximum wind energy capture and rated power control of the permanent magnet generator; the air gap sensor There are four, which are evenly installed on the lower side of the disk motor torque winding, and the air gap between the torque winding and the four symmetrically distributed damping windings is measured; the damping converter is four H-bridge converter, corresponding to Four damping windings, one end of which is connected to the damping winding and the other end to the output of the non-controllable rectifier, adjusts the winding current according to the measurement information of the four air gap sensors, and suspends the fan rotating body at four points; the encoder is installed At the upper end of the tower, the rotating shaft is elastically connected to the rotating body of the wind turbine, and the rotational speed and rotation angle of the rotating body are measured to capture the inverter control of the disk motor torque winding, feedback the rotational speed and the rotation angle required for decoupling. 2.一种如权利要求1所述的柔性直流输电用双馈型磁悬浮垂直轴风力发电系统的控制方法,其特征在于,采用如下步骤:2. A control method for a doubly-fed magnetic levitation vertical axis wind power generation system for flexible DC transmission as claimed in claim 1, characterized in that the following steps are adopted: 步骤1,风机旋转体四点悬浮:当风速V w 达到起动风速V in 后,首先悬浮准备,调节四个阻尼变流器输出电流i f(i),其中i=1,2,3,4,对应四个阻尼绕组,逐渐增大盘式电机转矩绕组和阻尼绕组之间的电磁吸力f e (i),直至四个电磁吸力的总和f e (1)+ f e (2)+ f e (3)+ f e (4)=mgmg为风机旋转体重力;接着风机旋转体悬浮起动,设定四点悬浮气隙参考δ ref,四个阻尼变流器根据对应气隙传感器实测的悬浮气隙δ(i)分别求取各阻尼绕组的悬浮气隙误差e(i)=δ ref-δ(i),在比例积分微分PID调节器作用下,产生励磁电流主参考i f0 *(i),进而根据四个悬浮气隙误差e(i),计算四个悬浮气隙的同步误差E(i)=2e(i)-e(i+1)-e(i-1),在比例微分PD控制器作用下,获取四点悬浮同步差异的补偿电流参考值i f1 *(i),进而给出四个阻尼绕组励磁电流的总参考为i f *(i)= i f0 *(i)+ i f1 *(i),将四个阻尼绕组励磁电流参考i f *(i)送至对应的阻尼变流器,产生含同步误差补偿的四点悬浮电磁吸力f e (i),将风机旋转体稳定悬浮在悬浮气隙δ ref处,风机旋转体无摩擦悬浮起动,开始捕获能量,此时捕获变流器、主功率变流器和升压变流器均处于不控状态;Step 1. Four-point suspension of the fan rotating body: when the wind speed V w reaches the starting wind speed V in , first prepare for suspension and adjust the four damping converter output currents i f (i), where i =1,2,3,4 , corresponding to the four damping windings, gradually increase the electromagnetic attraction force f e (i) between the disk motor torque winding and the damping winding, until the sum of the four electromagnetic attraction forces f e (1)+ f e (2)+ f e (3)+ f e (4)= mg , mg is the weight of the fan rotating body; then the fan rotating body is started in suspension, and the four-point floating air gap reference δ ref is set, and the four damping converters are measured according to the corresponding air gap sensors. Suspension air gap δ (i) , calculate the suspension air gap error e (i) of each damping winding respectively = δ ref - δ (i), under the action of the proportional integral differential PID regulator, the main reference of the excitation current i f0 * (i), and then based on the four suspended air gap errors e (i), calculate the synchronization error of the four suspended air gaps E (i)=2 e (i)- e (i+1)- e (i-1) , under the action of the proportional differential PD controller, the compensation current reference value i f1 * (i) of the four-point suspension synchronization difference is obtained, and then the total reference value of the four damping winding excitation currents is given as i f * (i) = i f0 * (i)+ i f1 * (i), send the four damping winding excitation current reference i f * (i) to the corresponding damping converter to generate four-point suspended electromagnetic attraction f e (i) with synchronization error compensation ), the fan rotating body is stably suspended at the floating air gap δ ref . The fan rotating body starts to float without friction and begins to capture energy. At this time, the capturing converter, main power converter and boost converter are all out of control. state; 步骤2,风能最大捕获:当风速V w 低于额定风速V N ,风机旋转体在阻尼变流器作用下四点悬浮稳定后,进入风能最大捕获,首先根据风速和垂直轴风机功率曲线获取优化转速ω opt,并设定为转速参考ω ref,捕获变流器根据编码器实测转速ω和旋转角度θ,按照转子磁链定向将盘式电机输出电流解耦成转矩电流i q和励磁电流i d 接着计算转速偏差e ω= ω opt-ω,在PID控制器作用下产生转矩电流参考i q *,进而调控盘式电机转矩绕组的电磁转矩T d和输出功率P d,将风机旋转体稳定控制在优化转速ω opt;所述永磁发电机转子在风机桨叶和盘式电机转矩绕组共同作用下,按照优化转速ω opt旋转,在永磁发电机定子绕组中感应产生三相电流,经非可控整流器整流、升压变流器以及送端站变流器,馈入柔性直流电路;Step 2, maximum capture of wind energy: When the wind speed V w is lower than the rated wind speed V N , the wind turbine rotor is suspended and stabilized at four points under the action of the damping converter, and then enters the maximum capture of wind energy. First, the optimization is obtained based on the wind speed and vertical axis fan power curve. The rotation speed ω opt is set to the rotation speed reference ω ref . The capture converter decouples the disk motor output current into a torque current i q and an excitation current according to the rotor flux orientation according to the encoder’s measured speed ω and rotation angle θ . i d , then calculate the speed deviation e ω = ω opt - ω , and generate the torque current reference i q * under the action of the PID controller, thereby regulating the electromagnetic torque T d and output power P d of the disk motor torque winding, The fan rotating body is stably controlled at the optimized speed ω opt ; the permanent magnet generator rotor rotates at the optimized speed ω opt under the joint action of the fan blades and the disk motor torque winding, and is induced in the stator winding of the permanent magnet generator. Three-phase current is generated, rectified by the non-controllable rectifier, boost converter and terminal station converter, and fed into the flexible DC circuit; 步骤3,永磁发电机额定功率控制:当风速V w 超过额定风速V N 后,同时盘式电机电磁转矩T dT dmax(δ ref),其中T dmax(δ ref)为盘式电机额定悬浮气隙δ ref下的最大电磁转矩,风机旋转体在阻尼变流器作用下四点稳定悬浮,捕获变流器根据实测的永磁发电机输出功率P m和额定功率P N ,计算功率偏差e P= P N -P m,在PID控制器作用下产生转矩电流参考i q *,调控盘式电机转矩绕组的电磁转矩T d和输出功率P d,实时比较T dT dmax(δ ref)关系,当T dT dmax(δ ref),按照△δ ref幅度逐级增大悬浮气隙参考δ ref 阻尼变流器根据新调整的悬浮气隙参考δ ref,增大四个阻尼绕组电流和电磁吸力,随着悬浮气隙δ增大,T dmax(δ)逐步增大,直至达到盘式电机最大电磁转矩T dmax,此时对应最大悬浮气隙为δ max ,风机旋转体完全降落在风机塔架上,严格控制永磁发电机额定功率P N 输出;Step 3, permanent magnet generator rated power control: when the wind speed V w exceeds the rated wind speed V N , at the same time, the electromagnetic torque of the disc motor T dT dmax ( δ ref ), where T dmax ( δ ref ) is the disc motor The maximum electromagnetic torque under the rated suspension air gap δ ref , the fan rotating body is stably suspended at four points under the action of the damping converter, and the capture converter is calculated based on the measured output power P m and rated power P N of the permanent magnet generator. Power deviation e P = P N - P m , the torque current reference i q * is generated under the action of the PID controller, the electromagnetic torque T d and output power P d of the disk motor torque winding are controlled, and T d and output power P d are compared in real time. T dmax ( δ ref ) relationship, when T dT dmax ( δ ref ), the suspension air gap reference δ ref is gradually increased according to the △ δ ref amplitude , and the damping converter is based on the newly adjusted suspension air gap reference δ ref . Increasing the four damping winding currents and electromagnetic suction, as the floating air gap δ increases, T dmax ( δ ) gradually increases until it reaches the maximum electromagnetic torque T dmax of the disk motor. At this time, the corresponding maximum floating air gap is δ max , the wind turbine rotating body completely lands on the wind turbine tower, and the rated power P N output of the permanent magnet generator is strictly controlled; 步骤4,风机阻尼调控:当风速V w 超过额定风速V N ,而小于切出风速V out ,同时悬浮气隙δ达到δ max ,此时风机阻尼调控,由阻尼变流器和盘式电机阻尼绕组联合控制风机旋转体和塔架之间的摩擦转矩T f,盘式电机转矩绕组在捕获变流器作用下进行盘式电机最大转矩补偿控制,控制永磁发电机严格额定功率P N 输出,所述阻尼变流器根据实测的永磁发电机输出功率P m和额定功率P N ,计算实时功率偏差e P= P N -P m,在PID控制器作用下产生总i f *,按等分原则分别送给四个阻尼变流器作电流参考,改变四个阻尼绕组电流i f(i)和电磁吸力f e (i),进而改变摩擦转矩T f;捕获变流器根据阻尼绕组产生T f,实时计算盘式电机补偿转矩T c=T dmax-T f,按照直接转矩控制,设定转矩电流参考i q *,快速补偿和消纳多余风机功率,经由捕获变流器与永磁发电机经非可控整流器输出的额定功率汇流,经BOOST升压变、送端站变流器馈入电入电网;Step 4, fan damping control: When the wind speed Vw exceeds the rated wind speed VN, but is less than the cut-out wind speed Vout , and the suspended air gap δ reaches δmax , the fan damping is controlled by the damping converter and the disk motor damping. The windings jointly control the friction torque T f between the wind turbine rotating body and the tower. The disc motor torque winding performs maximum torque compensation control of the disc motor under the action of the capture converter, and controls the strict rated power P of the permanent magnet generator. N output, the damping converter calculates the real-time power deviation e P = P N - P m based on the measured permanent magnet generator output power P m and rated power P N , and generates a total if * under the action of the PID controller . , are sent to four damping converters as current references according to the principle of equal division, changing the four damping winding currents if (i) and electromagnetic attraction f e ( i ), thereby changing the friction torque T f ; capturing the converter According to the T f generated by the damping winding, the disk motor compensation torque T c = T dmax - T f is calculated in real time. According to the direct torque control, the torque current reference i q * is set to quickly compensate and absorb the excess fan power. The rated power output of the converter and the permanent magnet generator is captured through the non-controllable rectifier, and the power is fed into the grid through the BOOST step-up transformer and the terminal station converter; 步骤5,当风速大于切出风速时,即V w >V out ,风机桨叶顺桨,系统切出保护,进入停机状态。Step 5: When the wind speed is greater than the cut-out wind speed, that is, V w > V out , the fan blades feather, the system cuts out the protection, and enters the shutdown state.
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